void Map::initMap(const char* filename) {
std::vector<unsigned char> image;
std::vector<unsigned char> FatImage;
unsigned width, height;
unsigned x, y, bX, bY;
// Get the config
ConfigurationManager* config = ConfigurationManager::GetInstance();
//decode
unsigned error = lodepng::decode(image, width, height,
config->getPngMapPath());
//if there's an error, display it
if (error)
std::cout << "decoder error " << error << ": "
<< lodepng_error_text(error) << std::endl;
// Create the fat img
FatImage.resize(width * height);
// calc the size of the robot in pic px
unsigned PxToBlow = ceil(
config->getRobotSize().RadiosSize()
/ config->getPngGridResolution());
// run on the map and find the
unsigned char color;
for (y = 0; y < height; y++)
for (x = 0; x < width; x++) {
if (image[y * width * 4 + x * 4 + 0]
|| image[y * width * 4 + x * 4 + 1]
|| image[y * width * 4 + x * 4 + 2])
color = 0;
// add oppstical to the fat img
for (bX = std::max(x - PxToBlow, static_cast<unsigned int>(0));
bX < PxToBlow + x; bX++)
for (bY = std::max(x - PxToBlow, static_cast<unsigned int>(0));
bY < PxToBlow + y; bY++) {
FatImage[y * width * 4 + x * 4 + 0] = color;
FatImage[y * width * 4 + x * 4 + 1] = color;
FatImage[y * width * 4 + x * 4 + 2] = color;
FatImage[y * width * 4 + x * 4 + 3] = 255;
}
}
// create grid from the fat and regular map
this->FatGrid = this->CreatGridFromMap(FatImage, height, width,
config->getPngGridResolution(), config->getPixelPerCm(),
this->m_Cols, this->m_Rows);
unsigned error2 = lodepng::encode("try.png", this->FatGrid, width, height);
this->RegGrid = this->CreatGridFromMap(image, height, width,
config->getPngGridResolution(), config->getPixelPerCm(),
this->m_Cols, this->m_Rows);
}
